CPG-MTA implementation for locomotion control

Abstract

This paper deals with the new realization of the VLSI chip for locomotion control introduced in Arena et al. (2003). With respect to the previous version, the new chip includes the fully functional generation of several locomotion gaits suitable for the control of hexapod robots and other bio-inspired structures. Experimental results and the application of the chip to the control of two bio-inspired robots are shown.